Advanced mission management for long-range autonomous underwater vehicles

2003 ◽  
Author(s):  
T. Pfuetzenreuter
Keyword(s):  
Long Range ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Mission Management

scholarly journals Feedback Motion Planning for Long-Range Autonomous Underwater Vehicles

2019 ◽  
Author(s):  
Opeyemi S. Orioke ◽  
Tauhidul Alam ◽  
Joseph Quinn ◽  
Ramneek Kaur ◽  
Wesam H. Alsabban ◽  
...  
Keyword(s):  
Motion Planning ◽  
Long Range ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles

scholarly journals Towards Energy-Aware Feedback Planning for Long-Range Autonomous Underwater Vehicles

2021 ◽  
Vol 8 ◽  
Author(s):  
Tauhidul Alam ◽  
Abdullah Al Redwan Newaz ◽  
Leonardo Bobadilla ◽  
Wesam H. Alsabban ◽  
Ryan N. Smith ◽  
...  
Keyword(s):  
Long Range ◽  
Autonomous Underwater Vehicles ◽  
Kinematic Model ◽  
Underwater Vehicles ◽  
Ocean Model ◽  
Ocean Dynamics ◽  
Energy Aware ◽  
Goal Location ◽  
Water Currents ◽  
Initial Location

Ocean ecosystems have spatiotemporal variability and dynamic complexity that require a long-term deployment of an autonomous underwater vehicle for data collection. A new generation of long-range autonomous underwater vehicles (LRAUVs), such as the Slocum glider and Tethys-class AUV, has emerged with high endurance, long-range, and energy-aware capabilities. These new vehicles provide an effective solution to study different oceanic phenomena across multiple spatial and temporal scales. For these vehicles, the ocean environment has forces and moments from changing water currents which are generally on the order of magnitude of the operational vehicle velocity. Therefore, it is not practical to generate a simple trajectory from an initial location to a goal location in an uncertain ocean, as the vehicle can deviate significantly from the prescribed trajectory due to disturbances resulted from water currents. Since state estimation remains challenging in underwater conditions, feedback planning must incorporate state uncertainty that can be framed into a stochastic energy-aware path planning problem. This article presents an energy-aware feedback planning method for an LRAUV utilizing its kinematic model in an underwater environment under motion and sensor uncertainties. Our method uses ocean dynamics from a predictive ocean model to understand the water flow pattern and introduces a goal-constrained belief space to make the feedback plan synthesis computationally tractable. Energy-aware feedback plans for different water current layers are synthesized through sampling and ocean dynamics. The synthesized feedback plans provide strategies for the vehicle that drive it from an environment’s initial location toward the goal location. We validate our method through extensive simulations involving the Tethys vehicle’s kinematic model and incorporating actual ocean model prediction data.

A High A High Efficiency PEFC System Development for Long-Range Cruising Autonomous Underwater Vehicles (LCAUVs)

2019 ◽  
Vol 17 (1) ◽  
pp. 241-250 ◽  
Author(s):  
Hiroshi Yoshida ◽  
Tadahiro Hyakudome ◽  
Shojiro Ishibashi ◽  
Takao Sawa ◽  
Satoshi Tsukioka ◽  
...  
Keyword(s):  
Long Range ◽  
High Efficiency ◽  
System Development ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles

scholarly journals Combined Depth Control Strategy for Low-Speed and Long-Range Autonomous Underwater Vehicles

2020 ◽  
Vol 8 (3) ◽  
pp. 181 ◽  
Author(s):  
Anyuan Bi ◽  
Fengye Zhao ◽  
Xiantao Zhang ◽  
Tong Ge
Keyword(s):  
Energy Saving ◽  
Long Range ◽  
Control Strategy ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Hierarchical Architecture ◽  
Low Speed ◽  
Depth Control ◽  
Type Variable ◽  
Inspection Tasks

Autonomous underwater vehicles (AUVs) are increasingly being applied to highly detailed survey and inspection tasks over large ocean regions. These vehicles are required to have underwater hovering and low-speed cruising capabilities, and energy-saving property to enable long-range missions. To this end, a combined depth control strategy is proposed in which an on-off type variable ballast system (VBS) is adopted for satisfactory hovering or fast descending/ascending without propulsion to reach the designated cruising depth, whereas the bow and stern fins act as the actuator to maintain the cruising depth for more energy saving. A hierarchical architecture-based VBS controller, which comprises a ballast water mass planner and an on-off mass flowrate controller, is developed to assure good hovering performance of the on-off type VBS. Both numerical studies and basin tests are conducted on a middle-sized AUV to verify the feasibility and validity of this depth control strategy.

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